JPH03198706A - Transplantation posture-controlling apparatus of seedling transplantation machine - Google Patents

Abstract

PURPOSE:To perform transplantation of seedling while keeping the posture of the transplanted seedling in vertical state by providing a seedling-receiving member for receiving a seedling at a seedling-delivery port and automatically controlling the position of the receiving member by a sensor for detecting the factors influencing on the transplanting posture of seedling or by an operation to cause the influence on the posture. CONSTITUTION:In the case of using a seedling receiving member 17 interlocked to a seedling height sensor 22 for detecting the height of seedlings in a seedling tank 2, a light-emitter 23 and a light receiver 24 are attached to the right and left walls of the seedling tank 2 and the height of seedling is detected by the light emitted from the light emitter 23 to the light receiver 24. When the height of seedling is high, the seedling receiving member 17 is adjusted to a high level corresponding to the seedling height and, when the seedling height is low, the seedling receiving member 17 is adjusted to a low level by a motor M using a controller. In the above case, the proper height of the seedling receiving member 17 corresponding to the detected height of the seedling height sensor 22 is preset by experiment, etc. The seedling delivery resistance in the delivery of seedling by a seedling transplantation tool 3 is changed by this process and the transplantation posture of the delivered seedling on a soil surface is controlled to effect vertical transplantation of the seedling.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Field of Application) The present invention relates to a seedling planting posture control device that makes the seedling planting posture of a seedling planting machine upright.

(Prior Art and Problems to be Solved by the Invention) There is a configuration in which the position of the seedling presser rod is changed in the direction of the seedling platform in conjunction with the adjustment of the amount of seedlings picked up vertically (Japanese Utility Model Publication No. 58-38223).

That is, when changing the vertical amount of seedlings by the planting claw by adjusting the movement of the seedling platform in the front and back direction relative to the planting claw,
Since the distance between these planting claws and the seedling holding rod of the seedling stand changes, this distance or angle is maintained constant (a).

However, even if the seedling receiver, such as the seedling presser rod that receives the seedlings at the seedling outlet of the seedling tank, is held constant in relation to the seedling planting tool, such as the planting claw, The planting posture of seedlings relative to the soil surface often changes significantly. The present invention aims to maintain the planting posture of seedlings in an upright position even in such a case.

(Means for Solving the Problems) The present invention provides a seedling device that detects the height of the seedlings in the seedling tank at the seedling outlet of the seedling tank in which the seedlings are separated and transplanted by lowering the seedling planting tool. Length sensor, (2
) A vehicle speed sensor that detects the running speed of the vehicle body, (3) A hardness sensor that detects the hardness and softness of the seedling planting soil surface, (4) A plant spacing change operation tool that changes the seedling planting interval, (5) A change in the seedling planting method. (6) A sensitivity adjustment tool that adjusts the control sensitivity of rolling control or pitching control; (6) A sensor that detects factors that change the planting posture of seedlings, or an operation that causes the change. , a seedling planting posture control device for a seedling transplanter, characterized in that the position of a seedling receiver that receives a seedling body in the seedling take-out port is automatically adjusted to maintain the seedling planting posture in an upright state. composition.

(Operation) Seedlings are stored in the seedling tank, and while the seedling planting tool is moved down to the seedling removal port, a predetermined number of seedlings are taken out and transplanted onto the soil surface. The seedlings stored in the seedling tank have their seedling bodies received by the seedling receiver at the seedling outlet, so the seedlings that are separated and taken out from the seedling outlet by the seedling planting tool are Transplant by pulling downward from between this seedling receptor and the rear seedling (.

The position of the seedling receiver can be automatically adjusted by detecting factors that change the seedling planting posture with a sensor, such as a seedling height sensor that detects the height of the seedlings in the seedling tank, or by performing an operation that causes this change. is adjusted to As a result, the resistance to take out the seedlings when the seedlings are taken out by the seedling planting tool is changed, and the planting posture is controlled when the seedlings are transplanted onto the soil surface after being taken out, so that the seedlings are planted in an upright position.

(Effect of the invention) In this way, the position of the seedling receiver that receives the seedling body part of the seedling take-out port in the seedling tank is determined by one of the sensors that detect the factors that change the seedling planting posture, the operations that cause the change, etc. Since the movement of the seedlings is automatically controlled to maintain the seedling planting posture in an upright position by adjusting the movement of the seedlings, the seedling planting posture can be controlled accurately and without any erroneous operation.

(Example) On the ward side, the seedling planting machine is installed at the rear of the four-wheeled vehicle body 1.
A seedling tank 2 that accommodates seedlings, a seedling planting tool 3 that separates the seedlings supplied from the seedling tank 2 and plants them on the soil surface, and a seedling planting machine 4 having these, which slides on the soil surface while supporting the seedling tank 2. A seedling planting device 6 consisting of a float 5 and the like is connected to the seedling planting device 6 by a lifting link 7 so that it can be raised and lowered, and the front wheels 9 and rear wheels 10 are linked by an engine 8 mounted on the front of the vehicle body 1. In addition to driving and propelling the vehicle, the seedling planting device 6 is interlocked with the power extraction shaft 11 to perform seedling planting work.

12 is a steering handle for steering the front wheels 9; 13;
14 is a pilot's seat, and 14 is an elevating cylinder that raises and lowers the elevating link 7 using hydraulic pressure to control the raising and lowering of the seedling planting device 6.

The seedling tank 2 is linked so as to be moved in the left and right direction with respect to the seedling planting machine body 4, and is tilted downward at the rear, and a seedling takeout port 15 through which the seedling planting tool 3 is moved downward is provided at the lower end. Seedling removal frame 1
6 is provided at a fixed position with respect to the seedling planting machine body 4, and a seedling receiver is provided in the vicinity above the seedling take-out port 15 of the seedling tank 2 to receive the seedling body portion across the left and right width direction of the seedling tank 2.

The seedling planting tool 3 has a separation needle 18 at its tip that separates the bedding part C of the seedlings into blocks of a specified width, and a separation needle 18 that holds the seedlings by receiving the upper surface of the bedding part C separated by the separation needle 18. It has a pusher 19, etc., which pops downward against the separation needle 18 and inserts the bedding part C into the soil when the separation needle 18 and the pusher move downward to near the soil surface. The seedlings 19 and the like are constructed so that each seedling take-out port 15 of the seedling take-out frame 16 is used as a downwardly movable rotating cylinder, and the planting operation is performed by drawing an elliptical planting track @P cotton A.

The seedling receiver 17 is in the form of a round bar or a plate, and extends over the entire width of the seedling tank 2, and has the tip of an arm 21 that is rotatable around an arm shaft 20 whose left and right ends are supported against the side wall of the seedling tank 2. is provided in the seedling removal frame 16, and is rotatable from a vertically displacing range to a longitudinally displacing range with respect to the seedling retrieval frame 16;
The arm shaft 20 is controlled by the control motor M.
It can be rotated B around 0. When this seedling receiver 17 is set on an arcuate trajectory B that upwardly rotates from the tip of the seedling take-out frame 16 toward the upper side of the seedling tank 2, as shown in FIGS. 2 and 3, this seedling receiver 17 is at the bottom, it is suitable for germs with short seedlings, but the resistance to press the seedling part is small for normal seedlings (also, the more the seedlings are rotated toward the upper side, the more the seedlings are placed in the seedling tank 2). It is configured so that the resistance increases as it is pressed toward the upper side.The rotation configuration of this seedling receiver] 7, the rotation direction,
Alternatively, the moving direction etc. can be changed and set in various ways depending on the form of the seedling tank, seedling planting device, etc.

Further, when the seedling receiver 17 is rotated in direct conjunction with an operating tool by a wire or the like, the control motor 20 is not necessary.

Regarding the interlocking structure with a sensor, an operating lever, etc. when adjusting and rotating the seedling receiving position of the seedling receiving body 17, there are the following forms.

(1) Regarding the case where the seedling receptor 17 is controlled and interlocked with the seedling height sensor 22 that detects the height of the seedlings in the seedling tank 2, a light emitter 23 and a light receiver 24 are provided on the left and right side walls of the seedling tank 2, The height of the seedling part is detected by the light emitted from the light emitter 23 to the receiver 24, and when the height of the seedling is high, the seedling receiver 17 is adjusted high accordingly, and when the height of the seedling is low, the height of the seedling body is adjusted accordingly. The operation is controlled by the motor M via the controller so that the height is low (adjusted). The same applies to each of the following examples).

(2) Regarding the case where the seedling receiver 17 is controlled and interlocked with the vehicle speed sensor 25 that detects the running speed of the vehicle body 1.In the transmission case of the vehicle body 1, the rotation speed is measured from the transmission mechanism for the rear wheels 10. A vehicle speed sensor 25 is provided to detect the vehicle speed, and depending on the vehicle speed detected by the vehicle speed sensor 25, the seedling receiver 1 is moved by the motor M via the controller.
7 position is actuated and controlled.

When planting the seedlings by pushing out the pusher 19 with the elastic force of the spring, the seedling planting posture using the seedling planting fixture 3 is such that the higher the vehicle speed, the greater the resistance to the delay in pushing out the pusher 19 due to the spring. The controls are interlocked to make it work.

In addition, as a form that can be implemented in the same way as f when using the vehicle speed sensor 25, the seedling receiver 17 can be directly or indirectly linked to the operation amount of the throttle lever 26 that adjusts the rotation speed of the engine 8. It is also possible to have a configuration in which these are linked.

Also, a gear shift lever 27 that operates a sub-transmission device that changes the vehicle speed.
The seedling receiver 17 may be configured to be interlocked with each other.

(3) Regarding the case in which the seedling receiver 17 is controlled and interlocked with the hardness sensor 28 that detects the hardness or softness of the soil surface on which seedlings are planted, the hardness sensor 28 detects the soil The structure is such that it can detect hardness and softness.

Each of the center and left and right floats 5 is supported 30 in a vertically movable manner by the rear end of an arm 29, which is provided at the rear so as to be vertically movable with respect to the seedling planting machine body 4, and is used for planting next to the cockpit 13. By operating the method changing operation tool 31 and moving the arm 29 up and down, the depth at which the seedlings are planted by the seedling planting tool 3 can be changed to shallow or shallow. In places where the soil is soft and the tiller is deep, it will sink and the front end will move upwards relative to the seedling transplanter body 4. In places where the soil is hard and the tiller is shallow, it will float and the front end will move downwards. The front and back become nearly horizontal.

A configuration in which the center float of the floats 5 is directly or indirectly used as a hard/soft sensor 28, and when the amount of vertical swing increases, the control is interlocked to change the position of the seedling receiver 17 via a controller. shall be.

If the soil is hard, planted seedlings tend to fall back. For this reason, if the soil is hard compared to soft soil, the seedling receptor 1
7 is controlled and linked like a seedling tank.

(4) Regarding the case where the seedling receiver 17 is directly or indirectly controlled and interlocked with the operation of the plant spacing changing operating tool 32 that changes the seedling planting interval by the seedling planting tool 3, the plant spacing changing operating tool 32: The ratio of the seedling planting speed of the seedling planting tool 3 to the traveling speed of the vehicle body 1 is changed, and the transmission ratio between the transmission device for the wheels 9 and 10 and the transmission device for the power take-off shaft 11 is changed. Operate in conjunction with.

Assuming that the distance between each planting plant in the front and back direction planted by the seedling planting tool 3 is in an upright position with the standard spacing, the wider the space between the plants, the greater the amount of drag the seedlings will have during planting. The planting posture will be tilted backwards, and if it becomes narrow (on the contrary, it will tend to be tilted forward). Therefore, by operating the plant spacing change operation tool 32 to the wider side, the seedling receiver 17 can be moved to the seedling outlet 15.
Control is interlocked so that the resistance against the seedlings is increased by rotating from φ to the side of the seedling tank 2, and the resistance is decreased by rotating in the opposite direction by operating toward the narrowing side.

(5) Regarding the case where the seedling receiver 17 is controlled directly or indirectly in conjunction with the operation of the planting method changing operating tool 31 that changes the seedling planting depth, the seedling planting method changing operating tool 31 is controlled. When the spindle 30 of the float 5 is moved upward by operation, the depth at which the seedlings are planted by the seedling planting tool 3 becomes deeper. Conversely, if the support shaft portion 30 is moved downward, the planted seedlings tend to be planted shallowly, and the planted seedlings tend to fall backwards. At this time, control is interlocked to increase the seedling resistance by the seedling receptor 17.

(6) Rolling control of the seedling receiver 17 and the seedling planting machine 4;
Or a sensitivity adjuster 3 that adjusts the control sensitivity of pitching control.
Regarding the case where the control is interlocked with the operation of 3. By detecting the difference in the ground pressure of the pair of left and right floats 5 with respect to the soil surface, the rear end of the lifting nozzle 7 is rolled in the left-right direction around the rolling shaft 34, In the rolling control in which the seedling planting machine 4 is always controlled to maintain horizontally parallel to the soil surface, the sensitivity of the rolling control valve of the rolling hydraulic circuit to the vertical swing of the float 5 is controlled by a sensitivity adjuster 33. Configure.

The sensitivity of this rolling control is adjusted to be sensitive where the soil surface is soft and to be insensitive where the soil surface is hard. When planting seedlings on hard soil surfaces, the seedlings tend to fall backwards, so the control is interlocked to increase the seedling resistance by the seedling receiver 17.

In addition, by switching the pitching control valve 35 by vertically swinging the float 5 in the center and expanding and contracting the lifting cylinder 14, the seedling planting machine 4 can be raised in deep soil of the tiller. In shallow soil, the pitching control is performed so that the ground pressure by each float 5 is kept constant by lowering the float, but by making it possible to adjust the sensitivity of the pitching control valve 35 using a sensitivity adjuster. , the position of the seedling receiver 17 can be adjusted and controlled.

Note that the planting posture of seedlings is often influenced by the depth of water above the soil surface. In deep water, planted seedlings tend to fall forward due to the flow velocity, and in shallow water, they tend to fall backward. In some places, a water depth sensor that detects the water depth may be provided and linked for control so as to make the resistance effective.

In addition, any one of the above-mentioned types of control interlocking using various sensors, operating tools, etc. may be provided, or a plurality of them may be provided in combination.

[Brief explanation of drawings]

The figures show an embodiment of the invention, and Figure 1 is a side view;
FIG. 2 is an enlarged side view of a portion thereof, and FIG. 3 is a front view of the portion. (Explanation of symbols) 1 Vehicle body 2 Seedling tank 3 Seedling planting tool 4 Seedling planting machine 570-) 6 Seedling planting device 14 Lifting cylinder 15 Seedling extraction port 16 Seedling extraction frame 17 Seedling receiver 22 Seedling height sensor 25 Vehicle speed sensor 26 Throttle lever 27 Sub-shift lever 28 Hard and soft sensor 31 Seedling transplanting method changing operation tool

Claims (1)

[Scope of Claims] At the seedling take-out port of the seedling tank in which the seedlings are separated and transplanted by lowering the seedling planting tool, (1) a seedling height sensor that detects the height of the seedlings in the seedling tank; (2)
A vehicle speed sensor that detects the running speed of the vehicle body, (3) a hardness sensor that detects the hardness and softness of the soil surface for seedling planting, (4) a plant spacing change operation tool that changes the seedling planting interval, and (5) a change in the seedling planting depth. By a sensor that detects a factor that changes the seedling planting posture, such as a planting depth change operation tool, (6) a sensitivity adjustment device that adjusts the control sensitivity of rolling control or pitching control, or an operation that causes a change, A seedling planting posture control device for a seedling planting machine, characterized in that the position of a seedling receiver that receives a seedling body in the seedling take-out port is automatically adjusted to keep the seedling planting posture upright while planting.